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公开(公告)号：US08937278B2
公开(公告)日：2015-01-20
申请号：US13868521
申请日：2013-04-23
发明人： Fumio Ohtomo , Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi
CPC分类号： G01D5/3473 , G01B11/26 , G01D5/34792
摘要： A rotation angle detecting apparatus comprises a shaft portion space formed in a rotation shaft, a bearing holder space, a first condenser lens, a second condenser lens to face the first condenser lens, a detection pattern provided at a focal position of one of the first condenser lens and the second condenser lens, an image sensor provided at a focal position of the other of the first condenser lens and the second condenser lens, and an arithmetic unit for calculating an angle displacement of the rotation shaft. The arithmetic unit carries out a total circumferential scanning, extracts a frequency component, carries out a scanning of a reference designation pattern, and calculates the angle displacement of the rotation shaft based on a phase difference of the frequency component and the number of frequencies corresponding to a change in a position of the reference designation pattern.
摘要翻译： 旋转角度检测装置包括形成在旋转轴中的轴部空间，轴承保持器空间，第一聚光透镜，面对第一聚光透镜的第二聚光透镜，设置在第一聚光透镜中的一个的焦点位置处的检测图案 聚光透镜和第二聚光透镜，设置在第一聚光透镜和第二聚光透镜中的另一个的焦点位置处的图像传感器，以及用于计算旋转轴的角度位移的运算单元。 算术单元执行全周扫描，提取频率分量，执行基准指定模式的扫描，并且基于频率分量的相位差和与其对应的频率的数量来计算旋转轴的角度位移 参考指定模式的位置的改变。
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公开(公告)号：US20130321591A1
公开(公告)日：2013-12-05
申请号：US13904159
申请日：2013-05-29
发明人： Fumio Ohtomo , Hitoshi Otani , Tetsuji Anai , Kaoru Kumagai
IPC分类号： H04N13/02
CPC分类号： H04N13/275 , G01C11/02 , G01C11/06 , H04N5/23222 , H04N13/221
摘要： A photographing device comprises an image pickup unit to acquire a moving image and a still image of an object, an image pickup control unit, an angle sensor, an image processing unit for extracting characteristic points from a first still image, tracking the characteristic points in the moving image, identifying the characteristic points in a newest image and selecting an orientation point common to the first still image and the newest image, a storage unit, a display unit, and an arithmetic unit. The arithmetic unit performs relative orientation between the first still image and the newest image based on the orientation point and on detection result of the angle sensor, obtains a distance H to the object and a distance B between points where the images have been photographed and performs guidance display where still images can be acquired sequentially when the B/H value reaches a predetermined value or higher.
摘要翻译： 拍摄装置包括摄像单元，用于获取物体的运动图像和静止图像，摄像控制单元，角度传感器，用于从第一静止图像中提取特征点的图像处理单元，跟踪特征点 运动图像，识别最新图像中的特征点并选择第一静止图像和最新图像共同的定向点，存储单元，显示单元和运算单元。 算术单元基于取向点和角度传感器的检测结果，在第一静止图像和最新图像之间执行相对取向，获得与物体的距离H和拍摄图像的点之间的距离B 当B / H值达到预定值或更高时可以顺序地获取静止图像的引导显示。
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公开(公告)号：US20130155225A1
公开(公告)日：2013-06-20
申请号：US13718358
申请日：2012-12-18
发明人： Kaoru Kumagai , Kazuki Osaragi , Tetsuji Anai , Fumio Ohtomo
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01C15/002 , G02B23/145
摘要： A surveying apparatus comprises an observation optical system having an image sensor for outputting a digital image signal and a zoom optical system, a reference-pattern projection optical system for making a reference pattern enter the observation optical system in an infinity state and for forming an image on the image sensor, a rotation mechanism capable of rotating in two directions, a horizontal angle detector and a vertical angle detector for detecting a horizontal angle and a vertical angle of rotation in the two directions of the rotation mechanism, and an arithmetic control unit. The arithmetic control unit measures the horizontal angle and the vertical angle of a sighting point based on detection results of the horizontal angle detector and the vertical angle detector and based on a difference between the reference pattern on the image sensor and the sighting point of the observation optical system.
摘要翻译： 测量装置包括具有用于输出数字图像信号的图像传感器和变焦光学系统的观察光学系统，用于使参考图案进入无限远状态的观察光学系统并用于形成图像的参考图案投影光学系统 在图像传感器上，能够沿两个方向旋转的旋转机构，用于检测旋转机构的两个方向上的水平角度和垂直旋转角度的水平角度检测器和垂直角度检测器以及运算控制单元。 算术控制单元基于水平角度检测器和垂直角度检测器的检测结果，基于图像传感器上的参考图案与观察的观察点之间的差异来测量瞄准点的水平角度和垂直角度 光学系统。
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公开(公告)号：US20130155224A1
公开(公告)日：2013-06-20
申请号：US13718380
申请日：2012-12-18
发明人： Fumio Ohtomo , Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi
IPC分类号： G01B11/26
CPC分类号： G01B11/26 , G01C15/002
摘要： A rotation angle detecting apparatus comprises a bearing holder, a rotation shaft rotatably supported by the bearing holder, a shaft portion space formed in the rotation shaft, a bearing holder space formed in the bearing holder, an angle detection pattern in the shaft portion space, a reference pattern and an image sensor in the bearing holder space, an optical system which exists across the shaft portion space and the bearing holder space and forms a projection image of the angle detection pattern and a projection image of the reference pattern on the image sensor, a photodetection switching means for selectively projecting the projection images of the angle detection pattern and the reference pattern onto the image sensor, and an arithmetic device for calculating a rotation angle of the rotation shaft based on a deviation between the reference pattern and the angle detection pattern received by the image sensor.
摘要翻译： 一种旋转角度检测装置，包括轴承保持器，由轴承保持器可旋转地支撑的旋转轴，形成在旋转轴中的轴部空间，形成在轴承保持器中的轴承保持架空间，轴部空间中的角度检测图案， 在轴承座空间中的参考图案和图像传感器，存在于轴部空间和轴承保持器空间之间的光学系统，并且形成角度检测图案的投影图像和参考图案的投影图像在图像传感器上 ，用于将角度检测图案和参考图案的投影图像选择性地投影到图像传感器上的光检测切换装置，以及用于基于参考图案和角度检测之间的偏差来计算旋转轴的旋转角度的运算装置 图像传感器接收的图案。
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公开(公告)号：US09911038B2
公开(公告)日：2018-03-06
申请号：US15007380
申请日：2016-01-27
发明人： Takeshi Sasaki , Tetsuji Anai , Hitoshi Ootani , Nobuo Kochi
CPC分类号： G06K9/0063 , G06K9/2081 , G06T7/33 , G06T7/55 , G06T7/74 , G06T2200/24 , G06T2207/10016 , G06T2207/10032 , G06T2207/20101 , G06T2207/30181 , G06T2207/30244
摘要： The efficiency of work for identifying reference points included in photographed images is improved. A survey data processing device includes a data receiving unit 103 that receives data of two still images, an operation information receiving unit 104 that receives a selection of reference points among multiple reference points which are included in both of the two still images and have known location information, an exterior orientation parameter calculating unit 106 that calculates exterior orientation parameters of a camera, a coordinate integrating unit 110 for obtaining an integrated coordinate system for describing both the locations of an unselected reference point and the camera, a back-projected image generating unit 111 for generating a back-projected image by back-projecting the unselected reference point in the integrated coordinate system, and a target position estimating unit 112 that estimates a position of the unselected reference point in a still image.
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公开(公告)号：US20130155397A1
公开(公告)日：2013-06-20
申请号：US13718329
申请日：2012-12-18
发明人： Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi , Fumio Ohtomo
IPC分类号： G01B11/26
CPC分类号： G01B11/26 , G01C15/002 , G01D5/2457 , G01D5/3473
摘要： A rotation angle detecting apparatus comprises a bearing holder, a rotation shaft rotatably supported by said bearing holder, a shaft portion space formed in said rotation shaft, a bearing holder space formed in said bearing holder, a first condenser lens in said shaft portion space and having an optical axis that coincides with a center line of said rotation shaft, a second condenser lens in said bearing holder space and on an extension of a center line of said rotation shaft, an angle detection pattern at a focal position of one of said first and said second condenser lens, and an image sensor at a focal position of the other of said condenser lens, wherein said image sensor detects a projection image of said angle detection pattern projected onto said image sensor, and a displacement of said projection image involved by the rotation of said rotation shaft is detected.
摘要翻译： 旋转角度检测装置包括轴承座，由所述轴承座可旋转地支撑的旋转轴，形成在所述旋转轴中的轴部空间，形成在所述轴承座中的轴承保持架空间，所述轴部空间中的第一聚光透镜， 具有与所述旋转轴的中心线一致的光轴，在所述轴承保持器空间中的第二聚光透镜，以及所述旋转轴的中心线的延伸部上的所述第一中心线的焦点位置处的角度检测图案 和所述第二聚光透镜，以及在所述聚光透镜的另一个的焦点位置处的图像传感器，其中所述图像传感器检测投影到所述图像传感器上的所述角度检测图案的投影图像，并且所述投影图像的位移由 检测所述旋转轴的旋转。
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公开(公告)号：US10331972B2
公开(公告)日：2019-06-25
申请号：US15008632
申请日：2016-01-28
摘要： A technique for making multiple still images, which are photographed by a traveling mobile body, and the traveled route of the photographing correspond to each other, is obtained. A survey data processing device includes an input unit 101, an image processing unit 102, and a synchronous processing unit 103. The input unit 101 is configured to receive image data of multiple still images, which are photographed from a mobile body flying, and receive flight data, in which a flight route of the mobile body is measured. The image processing unit 102 is configured to estimate a flight route of the mobile body based on changes in positions of feature points included in the multiple still images on a screen. The synchronous processing unit 103 is configured to specify a matching relationship between the flight route of the flight data and the estimated flight route.
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公开(公告)号：US09736360B2
公开(公告)日：2017-08-15
申请号：US15007414
申请日：2016-01-27
发明人： Daisuke Sasaki , Nobuyuki Fukaya , Hitoshi Ootani , Kazuki Osaragi , Takeshi Sasaki , Tetsuji Anai
IPC分类号： H04N5/232 , G06T1/00 , G06F3/0481 , G01C11/06 , G01C21/00
CPC分类号： H04N5/23222 , B64C2201/123 , G01C11/06 , G01C21/005 , G06F3/0481 , G06T1/0007 , G06T2200/24
摘要： An operation burden in confirming a corresponding relationship between multiple still images and a traveled route is reduced. A survey data processing device includes a storing unit 106 and a UI controlling unit 105. The storing unit 105 stores survey data, in which image data of multiple still images that are photographed from a mobile body while flying is correlated with a flight route of the mobile body. The UI controlling unit 105 displays the flight route and at least one of the multiple still images on a screen. The displayed flight route and the displayed still image are displayed on the same screen at the same time in a condition in which a corresponding relationship between the flight route and the multiple still images is determined, and a moving direction of the mobile body that photographed the displayed still image is indicated in the displayed still image.
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公开(公告)号：US09571794B2
公开(公告)日：2017-02-14
申请号：US13718358
申请日：2012-12-18
发明人： Kaoru Kumagai , Kazuki Osaragi , Tetsuji Anai , Fumio Ohtomo
CPC分类号： H04N7/18 , G01C15/002 , G02B23/145
摘要： A surveying apparatus comprises an observation optical system having an image sensor for outputting a digital image signal and a zoom optical system, a reference-pattern projection optical system for making a reference pattern enter the observation optical system in an infinity state and for forming an image on the image sensor, a rotation mechanism capable of rotating in two directions, a horizontal angle detector and a vertical angle detector for detecting a horizontal angle and a vertical angle of rotation in the two directions of the rotation mechanism, and an arithmetic control unit. The arithmetic control unit measures the horizontal angle and the vertical angle of a sighting point based on detection results of the horizontal angle detector and the vertical angle detector and based on a difference between the reference pattern on the image sensor and the sighting point of the observation optical system.
摘要翻译： 测量装置包括具有用于输出数字图像信号的图像传感器和变焦光学系统的观察光学系统，用于使参考图案进入无限远状态的观察光学系统并用于形成图像的参考图案投影光学系统 在图像传感器上，能够沿两个方向旋转的旋转机构，用于检测旋转机构的两个方向上的水平角度和垂直旋转角度的水平角度检测器和垂直角度检测器以及运算控制单元。 算术控制单元基于水平角度检测器和垂直角度检测器的检测结果，基于图像传感器上的参考图案与观察的观察点之间的差异来测量瞄准点的水平角度和垂直角度 光学系统。
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公开(公告)号：US09409656B2
公开(公告)日：2016-08-09
申请号：US14188846
申请日：2014-02-25
发明人： Fumio Ohtomo , Hitoshi Otani , Kazuki Osaragi , Tetsuji Anai
CPC分类号： B64D47/08 , B64C39/024 , B64C2201/127 , G01C11/02 , G01C15/00 , G05D1/0094 , H04N7/185
摘要： An aerial photographing system, comprising a flying vehicle being remotely controlled, a camera (7, 8) tiltably supported in any direction via a gimbal (25), a retro-reflector (9) tilting integrally with the camera, being set in a known relation with the camera and used as an object to be measured, and a total station (3) for tracking the retro-reflector and for measuring position of the retro-reflector.
摘要翻译： 一种空中拍摄系统，包括远程控制的飞行器，经由万向架（25）向任意方向倾斜支撑的照相机（7,8），与相机一体倾斜的回射器（9），被设置在已知 与相机的关系并用作要测量的对象，以及用于跟踪后向反射器和用于测量后向反射器的位置的全站仪（3）。
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